scholarly journals Improvement of Trajectory Tracking by Robot Manipulator Based on a New Co-Operative Optimization Algorithm

Mathematics ◽  
2021 ◽  
Vol 9 (24) ◽  
pp. 3231
Author(s):  
Mahmoud Elsisi ◽  
Hatim G. Zaini ◽  
Karar Mahmoud ◽  
Shimaa Bergies ◽  
Sherif S. M. Ghoneim
Keyword(s):  
Optimization Algorithm ◽  
Trajectory Tracking ◽  
Robot Manipulator ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Settling Time ◽  
Local Optima ◽  
Main Challenge ◽  
Error System ◽  
Test Scenarios

The tracking of a predefined trajectory with less error, system-settling time, system, and overshoot is the main challenge with the robot-manipulator controller. In this regard, this paper introduces a new design for the robot-manipulator controller based on a recently developed algorithm named the butterfly optimization algorithm (BOA). The proposed BOA utilizes the neighboring butterflies’ co-operation by sharing their knowledge in order to tackle the issue of trapping at the local optima and enhance the global search. Furthermore, the BOA requires few adjustable parameters via other optimization algorithms for the optimal design of the robot-manipulator controller. The BOA is combined with a developed figure of demerit fitness function in order to improve the trajectory tracking, which is specified by the simultaneous minimization of the response steady-state error, settling time, and overshoot by the robot manipulator. Various test scenarios are created to confirm the performance of the BOA-based robot manipulator to track different trajectories, including linear and nonlinear manners. Besides, the proposed algorithm can provide a maximum overshoot and settling time of less than 1.8101% and 0.1138 s, respectively, for the robot’s response compared to other optimization algorithms in the literature. The results emphasize the capability of the BOA-based robot manipulator to provide the best performance compared to the other techniques.

scholarly journals A New “Good and Bad Groups-Based Optimizer” for Solving Various Optimization Problems

2021 ◽  
Vol 11 (10) ◽  
pp. 4382
Author(s):  
Ali Sadeghi ◽  
Sajjad Amiri Doumari ◽  
Mohammad Dehghani ◽  
Zeinab Montazeri ◽  
Pavel Trojovský ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Gray Wolf ◽  
Good Group ◽  
Good Ability ◽  
Whale Optimization

Optimization is the science that presents a solution among the available solutions considering an optimization problem’s limitations. Optimization algorithms have been introduced as efficient tools for solving optimization problems. These algorithms are designed based on various natural phenomena, behavior, the lifestyle of living beings, physical laws, rules of games, etc. In this paper, a new optimization algorithm called the good and bad groups-based optimizer (GBGBO) is introduced to solve various optimization problems. In GBGBO, population members update under the influence of two groups named the good group and the bad group. The good group consists of a certain number of the population members with better fitness function than other members and the bad group consists of a number of the population members with worse fitness function than other members of the population. GBGBO is mathematically modeled and its performance in solving optimization problems was tested on a set of twenty-three different objective functions. In addition, for further analysis, the results obtained from the proposed algorithm were compared with eight optimization algorithms: genetic algorithm (GA), particle swarm optimization (PSO), gravitational search algorithm (GSA), teaching–learning-based optimization (TLBO), gray wolf optimizer (GWO), and the whale optimization algorithm (WOA), tunicate swarm algorithm (TSA), and marine predators algorithm (MPA). The results show that the proposed GBGBO algorithm has a good ability to solve various optimization problems and is more competitive than other similar algorithms.

An efficient algorithm for function optimization: modified stem cells algorithm

2013 ◽  
Vol 3 (1) ◽  
Author(s):  
Mohammad Taherdangkoo ◽  
Mahsa Paziresh ◽  
Mehran Yazdi ◽  
Mohammad Bagheri
Keyword(s):  
Stem Cells ◽  
Optimization Algorithm ◽  
Optimization Algorithms ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Natural Behavior ◽  
Local Optima ◽  
Bee Colony ◽  
Intelligent Behavior ◽  
Improved Performance

AbstractIn this paper, we propose an optimization algorithm based on the intelligent behavior of stem cell swarms in reproduction and self-organization. Optimization algorithms, such as the Genetic Algorithm (GA), Particle Swarm Optimization (PSO) algorithm, Ant Colony Optimization (ACO) algorithm and Artificial Bee Colony (ABC) algorithm, can give solutions to linear and non-linear problems near to the optimum for many applications; however, in some case, they can suffer from becoming trapped in local optima. The Stem Cells Algorithm (SCA) is an optimization algorithm inspired by the natural behavior of stem cells in evolving themselves into new and improved cells. The SCA avoids the local optima problem successfully. In this paper, we have made small changes in the implementation of this algorithm to obtain improved performance over previous versions. Using a series of benchmark functions, we assess the performance of the proposed algorithm and compare it with that of the other aforementioned optimization algorithms. The obtained results prove the superiority of the Modified Stem Cells Algorithm (MSCA).

scholarly journals Improved Equilibrium Optimization Algorithm Using Elite Opposition-Based Learning and New Local Search Strategy for Feature Selection in Medical Datasets

Computation ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 68
Author(s):  
Zenab Mohamed Elgamal ◽  
Norizan Mohd Yasin ◽  
Aznul Qalid Md Sabri ◽  
Rami Sihwail ◽  
Mohammad Tubishat ◽  
...  
Keyword(s):  
Machine Learning ◽  
Feature Selection ◽  
Local Search ◽  
Optimization Algorithm ◽  
Classification Accuracy ◽  
Optimization Algorithms ◽  
Search Strategies ◽  
Population Diversity ◽  
High Dimensionality ◽  
Local Optima

The rapid growth in biomedical datasets has generated high dimensionality features that negatively impact machine learning classifiers. In machine learning, feature selection (FS) is an essential process for selecting the most significant features and reducing redundant and irrelevant features. In this study, an equilibrium optimization algorithm (EOA) is used to minimize the selected features from high-dimensional medical datasets. EOA is a novel metaheuristic physics-based algorithm and newly proposed to deal with unimodal, multi-modal, and engineering problems. EOA is considered as one of the most powerful, fast, and best performing population-based optimization algorithms. However, EOA suffers from local optima and population diversity when dealing with high dimensionality features, such as in biomedical datasets. In order to overcome these limitations and adapt EOA to solve feature selection problems, a novel metaheuristic optimizer, the so-called improved equilibrium optimization algorithm (IEOA), is proposed. Two main improvements are included in the IEOA: The first improvement is applying elite opposite-based learning (EOBL) to improve population diversity. The second improvement is integrating three novel local search strategies to prevent it from becoming stuck in local optima. The local search strategies applied to enhance local search capabilities depend on three approaches: mutation search, mutation–neighborhood search, and a backup strategy. The IEOA has enhanced the population diversity, classification accuracy, and selected features, and increased the convergence speed rate. To evaluate the performance of IEOA, we conducted experiments on 21 biomedical benchmark datasets gathered from the UCI repository. Four standard metrics were used to test and evaluate IEOA’s performance: the number of selected features, classification accuracy, fitness value, and p-value statistical test. Moreover, the proposed IEOA was compared with the original EOA and other well-known optimization algorithms. Based on the experimental results, IEOA confirmed its better performance in comparison to the original EOA and the other optimization algorithms, for the majority of the used datasets.

Real-time tuning of PID controller based on optimization algorithms for a quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Muharrem Selim Can ◽  
Hamdi Ercan
Keyword(s):  
Real Time ◽  
Mean Square Error ◽  
Trajectory Tracking ◽  
Pid Controller ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Mean Square ◽  
Control Parameters ◽  
Content Type ◽  
Real Time Simulations

Purpose This study aims to develop a quadrotor with a robust control system against weight variations. A Proportional-Integral-Derivative (PID) controller based on Particle Swarm Optimization and Differential Evaluation to tune the parameters of PID has been implemented with real-time simulations of the quadrotor. Design/methodology/approach The optimization algorithms are combined with the PID control mechanism of the quadrotor to increase the performance of the trajectory tracking for a quadrotor. The dynamical model of the quadrotor is derived by using Newton-Euler equations. Findings In this study, the most efficient control parameters of the quadrotor are selected using evolutionary optimization algorithms in real-time simulations. The control parameters of PID directly affect the controller’s performance that position error and stability improved by tuning the parameters. Therefore, the optimization algorithms can be used to improve the trajectory tracking performance of the quadrotor. Practical implications The online optimization result showed that evolutionary algorithms improve the performance of the trajectory tracking of the quadrotor. Originality/value This study states the design of an optimized controller compared with manually tuned controller methods. Fitness functions are defined as a custom fitness function (overshoot, rise-time, settling-time and steady-state error), mean-square-error, root-mean-square-error and sum-square-error. In addition, all the simulations are performed based on a realistic simulation environment. Furthermore, the optimization process of the parameters is implemented in real-time that the proposed controller searches better parameters with real-time simulations and finds the optimal parameter online.

Automatic Mining of Quantitative Association Rules with Gravitational Search Algorithm

2017 ◽  
Vol 27 (03) ◽  
pp. 343-372 ◽  
Author(s):  
Umit Can ◽  
Bilal Alatas
Keyword(s):  
Association Rules ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Search Space ◽  
Search Method ◽  
Quantitative Association Rules ◽  
Gravitational Search

The classical optimization algorithms are not efficient in solving complex search and optimization problems. Thus, some heuristic optimization algorithms have been proposed. In this paper, exploration of association rules within numerical databases with Gravitational Search Algorithm (GSA) has been firstly performed. GSA has been designed as search method for quantitative association rules from the databases which can be regarded as search space. Furthermore, determining the minimum values of confidence and support for every database which is a hard job has been eliminated by GSA. Apart from this, the fitness function used for GSA is very flexible. According to the interested problem, some parameters can be removed from or added to the fitness function. The range values of the attributes have been automatically adjusted during the time of mining of the rules. That is why there is not any requirements for the pre-processing of the data. Attributes interaction problem has also been eliminated with the designed GSA. GSA has been tested with four real databases and promising results have been obtained. GSA seems an effective search method for complex numerical sequential patterns mining, numerical classification rules mining, and clustering rules mining tasks of data mining.

scholarly journals Solving knapsack problems using a binary gaining sharing knowledge-based optimization algorithm

2021 ◽  
Author(s):  
Prachi Agrawal ◽  
Talari Ganesh ◽  
Ali Wagdy Mohamed
Keyword(s):  
Life Span ◽  
Population Size ◽  
Linear Function ◽  
Optimization Algorithm ◽  
Optimization Problems ◽  
Search Space ◽  
Knapsack Problems ◽  
Local Optima ◽  
Knowledge Based ◽  
Two Stages

AbstractThis article proposes a novel binary version of recently developed Gaining Sharing knowledge-based optimization algorithm (GSK) to solve binary optimization problems. GSK algorithm is based on the concept of how humans acquire and share knowledge during their life span. A binary version of GSK named novel binary Gaining Sharing knowledge-based optimization algorithm (NBGSK) depends on mainly two binary stages: binary junior gaining sharing stage and binary senior gaining sharing stage with knowledge factor 1. These two stages enable NBGSK for exploring and exploitation of the search space efficiently and effectively to solve problems in binary space. Moreover, to enhance the performance of NBGSK and prevent the solutions from trapping into local optima, NBGSK with population size reduction (PR-NBGSK) is introduced. It decreases the population size gradually with a linear function. The proposed NBGSK and PR-NBGSK applied to set of knapsack instances with small and large dimensions, which shows that NBGSK and PR-NBGSK are more efficient and effective in terms of convergence, robustness, and accuracy.

A non-overshooting controller for vehicle path following

2021 ◽  
pp. 014233122199438
Author(s):  
Tong Xu ◽  
Dong Wang ◽  
Weigong Zhang
Keyword(s):  
Field Experiments ◽  
Fitness Function ◽  
Path Following ◽  
Settling Time ◽  
Distribution Model ◽  
Positioning Errors ◽  
Guidance Law ◽  
Initial Control ◽  
Vehicle Path ◽  
Pavement Construction

Unmanned pavement construction is of great significance in China, and one of the most important issues is how to follow the designed path near the boundary of the pavement construction area to avoid curbs or railings. In this paper, we raise a simple yet effective controller, named the proportional-integral-radius and improved particle swarm optimization (PIR-IPSO) controller, for fast non-overshooting path-following control of an unmanned articulated vehicle (UAV). Firstly, UAV kinematics model is introduced and segmented UAV steering dynamics model is built through field experiments; then, the raw data collected by differential global positioning system (DGPS) is used to build the measurement error distribution model that simulates positioning errors. Next, line of sight (LOS) guidance law is introduced and the LOS initial parameter is assigned based on human driving behavior. Besides, the initial control parameters tuned by the Ziegler-Nichols (ZN) method are used as the initial iterative parameters of the PSO controller. An improved PSO fitness function is also designed to achieve fast non-overshoot control performance. Experiments show that compared with the PSO, ZN and ZN-PSO controller, the PIR-PSO-based controller has significantly less settling time and almost no overshoot in various UAV initial states. Furthermore, compared with other controllers, the proposed PIR-IPSO-based controller achieves precise non-overshoot control, relatively less settling time and centimeter-level positioning error in various initial deviations.

Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm

2021 ◽  
pp. 107754632110034
Author(s):  
Ololade O Obadina ◽  
Mohamed A Thaha ◽  
Kaspar Althoefer ◽  
Mohammad H Shaheed
Keyword(s):  
Optimization Algorithm ◽  
Hybrid Algorithm ◽  
Robot Manipulator ◽  
Moving Average ◽  
Identification Problem ◽  
Whale Optimization Algorithm ◽  
Grey Wolf Optimizer ◽  
Parametric Modelling ◽  
Grey Wolf ◽  
Whale Optimization

This article presents a novel hybrid algorithm based on the grey-wolf optimizer and whale optimization algorithm, referred here as grey-wolf optimizer–whale optimization algorithm, for the dynamic parametric modelling of a four degree-of-freedom master–slave robot manipulator system. The first part of this work consists of testing the feasibility of the grey-wolf optimizer–whale optimization algorithm by comparing its performance with a grey-wolf optimizer, whale optimization algorithm and particle swarm optimization using 10 benchmark functions. The grey-wolf optimizer–whale optimization algorithm is then used for the model identification of an experimental master–slave robot manipulator system using the autoregressive moving average with exogenous inputs model structure. Obtained results demonstrate that the hybrid algorithm is effective and can be a suitable substitute to solve the parameter identification problem of robot models.

scholarly journals GMBO: Group Mean-Based Optimizer for Solving Various Optimization Problems

Mathematics ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 1190
Author(s):  
Mohammad Dehghani ◽  
Zeinab Montazeri ◽  
Štěpán Hubálovský
Keyword(s):  
Optimization Algorithm ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Random Search ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Main Idea ◽  
Population Based ◽  
Grey Wolf Optimizer ◽  
Whale Optimization

There are many optimization problems in the different disciplines of science that must be solved using the appropriate method. Population-based optimization algorithms are one of the most efficient ways to solve various optimization problems. Population-based optimization algorithms are able to provide appropriate solutions to optimization problems based on a random search of the problem-solving space without the need for gradient and derivative information. In this paper, a new optimization algorithm called the Group Mean-Based Optimizer (GMBO) is presented; it can be applied to solve optimization problems in various fields of science. The main idea in designing the GMBO is to use more effectively the information of different members of the algorithm population based on two selected groups, with the titles of the good group and the bad group. Two new composite members are obtained by averaging each of these groups, which are used to update the population members. The various stages of the GMBO are described and mathematically modeled with the aim of being used to solve optimization problems. The performance of the GMBO in providing a suitable quasi-optimal solution on a set of 23 standard objective functions of different types of unimodal, high-dimensional multimodal, and fixed-dimensional multimodal is evaluated. In addition, the optimization results obtained from the proposed GMBO were compared with eight other widely used optimization algorithms, including the Marine Predators Algorithm (MPA), the Tunicate Swarm Algorithm (TSA), the Whale Optimization Algorithm (WOA), the Grey Wolf Optimizer (GWO), Teaching–Learning-Based Optimization (TLBO), the Gravitational Search Algorithm (GSA), Particle Swarm Optimization (PSO), and the Genetic Algorithm (GA). The optimization results indicated the acceptable performance of the proposed GMBO, and, based on the analysis and comparison of the results, it was determined that the GMBO is superior and much more competitive than the other eight algorithms.

Sign in / Sign up

Export Citation Format

Share Document